You can detect the existence of a rootkit by booting from known-clean read-only media and then scanning for it. It's even possible to implement "secure boot" this way without any hardware support -- have known-clean read-only boot media that contains your signing keys and then verifies and boots the operating system of your choice.
Implementing this in rushed closed-source system firmware is then purely a misfeature, along with the legitimate concern that it could lead to systems where the device owner can't install their own signing keys. Give people a USB stick with a hardware write protect switch, not signing keys hard-coded in firmware.
And you already need to be able to at least detect that someone has had physical access, otherwise you can't even be sure that the device hasn't been replaced with a compromised one that forwards your credentials to the attacker.